EP2444947A1 - Assistant driving system with video radar - Google Patents
Assistant driving system with video radar Download PDFInfo
- Publication number
- EP2444947A1 EP2444947A1 EP11156128A EP11156128A EP2444947A1 EP 2444947 A1 EP2444947 A1 EP 2444947A1 EP 11156128 A EP11156128 A EP 11156128A EP 11156128 A EP11156128 A EP 11156128A EP 2444947 A1 EP2444947 A1 EP 2444947A1
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- EP
- European Patent Office
- Prior art keywords
- vehicle
- environment
- information
- unit
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Abstract
An assistant driving system with video radar installed on a vehicle is disclosed. The assistant driving system includes a camera array capturing environment images for the environment around the vehicle, an image recognition unit identifying environment objects and their image, location, color, speed and direction from the environment images, an environment monitor and control unit receiving the information generated by the image recognition unit and creating the rebuild environment information for the vicinity of the vehicle as well as judging the space relationship between the vehicle and the environment objects to generate the warning information, a video radar display unit showing a single image for the rebuild environment information, a vehicle warning unit performing the processes corresponding to the warning information, a vehicle driving unit generating the driving control command based on the rebuild environment information, and a vehicle controlling unit receiving the driving control command to control the throttle, brake or steering wheel of the vehicle. Thus, the safety of steering the vehicle in various situations is greatly improved.
Description
- The present invention generally relates to an assistant driving system, and more specifically to a vehicle assistant system with video radar.
- It has been a crucial topic for the vehicle industry to improve the safety of driving, especially for car. Many vehicle manufactures developed various assistant devices by use of infrared, ultrasonic, microwave, or radio frequency to detect the obstacles around the vehicle, so as to warn or remind the driver of watching the current driving situation. For example, Adaptive Cruise Control (ACC) system is equipped in TOYOTA Camry series to prevent collision with the front car. Another example is Side Assist System, which is used in AUDI series to provide appropriate warning when the car turns to left or right.
- However, the effective detection range or working distance for infrared or ultrasonic are short and the detection function is easily interfered by environment noise. The working power of microwave or radio frequency has to be reinforced to increase the detection range such that the health of human is endangered and the manufacturing cost is pretty high. Furthermore, the worst weakness for the above designs is that generally only one target (a car, passenger or any object on the road) is monitored, and some nonmetal objects are not detected, such as lane signs on the road or plastic obstacles.
- Moreover, most advanced central control systems equipped in the car provide the images of front, back, left and right sides to display on a display device installed at the front-right side of the driver to assist in handling the driving information, such as multiple sub-images on one screen used in LUXGEN series or BLIS (Blind Spot Information System) in VOLVO S40 series. However, the driver has to simultaneously monitor three rearview/side mirrors and one screen during driving, and tends to become dizzy. It is possible to increase the risk of driving, especially for those drivers with slow response to the abrupt or emergent situation. Therefore, it is desired to provide a vehicle assistant system with video radar showing one single image without monitoring all rearview/side mirrors so as to overcome the drawbacks in the prior arts.
- A primary objective of the present invention is to provide a vehicle assistant system with video radar, including a camera array capturing environment images, an image recognition unit identifying environment objects and their image, location, color, speed and direction from the environment images, an environment monitor and control unit receiving the information generated by the image recognition unit for creating the rebuild environment information of the vicinity of the vehicle and judge the special relationship between the vehicle and the environment objects to generate the warning information, a video radar display unit showing a single image for the rebuild environment information, a vehicle warning unit performing the processes with respect to the warning information, a vehicle driving unit generating the driving control command based on the rebuild environment information, and a vehicle controlling unit receiving the driving control command to control the throttle, brake or steering wheel of the vehicle.
- Therefore, the vehicle assistant system of the present invention provides video radar function, which may be installed on a car, ship or airplane to assist the driver. Furthermore, the vehicle assistant system can be used to achieve the function of recording driving video, auto driving or parking distance control, or generate the information or signal for anti-collision of front, rear or side vehicles, or warn the dangerous driving so as to improve the safety of driving.
- The present invention will be apparent to those skilled in the art by reading the following detailed description of preferred embodiments thereof, with reference to the attached drawings, in which:
-
FIG. 1 shows a functional block diagram to illustrate a vehicle assistant system with video radar according to the present invention; -
FIG. 2 shows an exemplary installment of the camera array on the car according to the present invention; and -
FIG. 3 illustrates one exemplary single environment image of the vehicle assistant system according to the present invention. - Please refer to
FIGs. 1 and2 .FIG. 1 shows the functional block diagram to illustrate the vehicle assistant system with video radar according to the present invention andFIG. 2 illustrates one exemplary installment of the camera array on the car. As shown inFIG. 1 , the vehicle assistant system of the present invention includes at least acamera array 10, at least animage recognition unit 20, anenvironment object library 22, animage recognition library 24, avehicle driving library 26, an environment monitor andcontrol unit 30, a videoradar display unit 40, avehicle warning unit 50, avehicle driving unit 60, and avehicle controlling unit 70. The vehicle assistant system can be installed on the vehicle, such as thecar 80 inFIG. 2 , so as to provide the function of video radar to the driver of thecar 80 to improve the safety of driving. - It should be noted that the
car 80 inFIG. 2 is only an example of application to illustrate the aspects of the present invention, and this is not intended to limit the scope of the present invention. Thus, the vehicle assistant system with video radar according to the present invention can also be applied to a ship or airplane. - Each
camera array 10 includes at least a camera, such as the first, second, third, andfourth cameras FIG. 2 , directed toward different directions to capture the environment of thecar 80 and generate a plurality of environment images accordingly. For example, the first, second, third, andfourth cameras camera array 10 may further be equipped with some zoom, wide-angle or IR lens, or the number of the cameras directly increases to monitor the environment in more directions of thecar 80. - Each
image recognition unit 20 receives the environment images via suitable video medium electrically connected withcamera array 10, and simultaneously identifies and recognizes at least one environment object and the corresponding image, location, color, speed and direction of the environment object from the environment images. Specifically, the environment object may include the other vehicles, lane lines, warning words on the road, text traffic signs, obstacles, passengers, buildings or guard trails around thecar 80. - The above video medium may include one of the USB (Universal Serial Bus) and video signal cables. The video signal cable could be one of the composite, component, High Definition Multimedia Interface (HDMI), RGB, YUV, CCIR601 and CCIR656 signal cable.
- The
environment object library 22 is connected withimage recognition unit 20 to receive and store the image of the environment object, and theimage recognition library 24 is also connected withimage recognition unit 20 to receive and store the location, color, speed and direction of the environment object. - The
vehicle driving library 26 possesses the dynamic and static information of thecar 80. The dynamic information includes the GPS data, dynamic speed and direction of thecar 80, and the static information contains the safe braking distance, turning radius, accelerating level, safe separating distance or the length, width and height of thecar 80, which are predetermined and stored. - The environment monitor and
control unit 30 is connected with theenvironment object library 22,image recognition library 24 andvehicle driving library 26 to read the image, location, color, speed and direction of the environment object, and then generate the rebuild environment information representing the surroundings of thecar 80. The environment monitor andcontrol unit 30 further generates the warning information by judging the space relationship between thecar 80 and the environment object based on the rebuild environment information, such as static and dynamic space relationship. For example, the static space relationship may include relative distance and direction, and the dynamic space relationship may include relative speed. The relative speed is calculated by dynamic speed stored in thevehicle driving library 26 and the distance difference of the environment object. - For instance, the environment monitor and
control unit 30 may generate the warning information when the relative distance between thecar 80 and the environment object is less than a predetermined safe distance, and the safe distance depend on the relative speed between thecar 80 and the environment object, the safe distance increases by at least 6 meters as relative speed between the vehicle and the environment object increases by 10 km/hr. Additionally, the predetermined safe distance depends on the type of thecars 80 and is previously adjusted in thevehicle driving library 26. Especially, the current speed and direction of thecar 80 is always updated and provided to the environment monitor andcontrol unit 30 to dynamically judge the driving situation. - The video
radar display unit 40 is use to implement the function of displaying such that the rebuild environment information from the environment monitor andcontrol unit 30 is received and one single image is displayed in one of the bird's view and radar figure. For example, the environment objects corresponding to the directions of the front D1, left D2, back D3, and right D4 are located in the directions of the front, left, back, and right of thecar 80, respectively, so as to assist the driver to fully and clearly understand the traffic situation around thecar 80. - The
vehicle warning unit 50 receives the warning information from the environment monitor and thecontrol unit 30 and generates the sound, light or vibration accordingly to remind the driver. - The
vehicle driving unit 60 receives the rebuild environment information from the environment monitor and thecontrol unit 30 and generates the control command based on the rebuild environment information. Thevehicle driving unit 60 is connected to thevehicle controlling unit 70 via the transfer medium and then converted into the corresponding control command, which is used to control at least one of the throttle, brake and steering wheel of thecar 80. - The above transfer medium may include one of wire and wireless medium. The wire medium comprising one of LIN (Local Interconnect Network), CAN (Controller Area Network) and TCP/IP (Transmission Control Protocol/Internet Protocol). The wireless medium may include one of infrared medium using IrDA (Infrared Data Association) protocol, radio frequency medium using Bluetooth protocol or WIFI/WIMAX/3G/LTE that are used in computer or mobile phone communication.
- Please refer to
FIG. 3 for further understanding the characteristics of the present invention. As shown inFIG. 3 , the single image displayed in the videoradar display unit 40 includes thepresent car 90, the first, second, third, fourth,fifth cars present car 90 is equipped with the vehicle assistant system of the present invention. The first, second, third, fourth,fifth cars present car 90. The lane line RL represents the separating dashed or solid line on the road to distinguish two adjacent car lanes. The first, second and third road signs RS1, RS2 and RS3 indicate the next exit, speed limit, and mileage, respectively. - Furthermore, the first, second and third warning icons DS1, DS2 and DS3 in
FIG. 3 are displayed in the single image by the videoradar display unit 40, which correspond to the warning information received. The first warning icon DS1 illustrates thefirst car 91 is too close to thepresent car 90 and possibly has the risk of collision. The second warning icon DS2 indicates the risk of side collision because thethird car 93 is too close to thepresent car 90, or far away the original lane, or preparing to switch to the lane of thepresent car 90, or thepresent car 90 is switching to the left lane. The third warning icon DS3 is used to show that thefourth car 94 is too close and may collide with thepresent car 90. - It should be noted that the environment objects shown in
FIG. 3 are located on a one-way road as an example, but the single image of the present invention may substantially include a plurality of lanes on a two-way road. - The assistant driving system of the present invention may further include a CSFDR (Crash Survivable Flight Data Recorder) (not shown), connected with the environment monitor and the
control unit 30 for receiving and recording the image, location, color, speed and direction of each environment object during driving. - As another aspect of the present invention, the assistant driving system with video radar can be used to implement auto driving or parking distance control, or generate the information or signal for anti-collision of front, rear or side vehicles, or warn the dangerous driving. The assistant driving system may be installed on a larger vehicle, such as an airplane or ship. Additionally, the assistant driving system of the present invention can help the driver get rid of any possible severe damage of collision due to dead space resulting from the huge size of the vehicle, so as to further improve the safety of driving.
- Although the present invention has been described with reference to the preferred embodiments thereof, it is apparent to those skilled in the art that a variety of modifications and changes may be made without departing from the scope of the present invention which is intended to be defined by the appended claims.
Claims (10)
- An assistant driving system with video radar, having video radar function and installed on a vehicle to assist a driver to steer the vehicle, comprising:at least a camera array, each having at least a camera to capture a plurality of environment images in a different direction for an environment of the vehicle;at least an image recognition unit, receiving the environment images through a video medium electrically connected with the camera array, and identifying at least an environment object and an image, location, color, speed and direction for the environment object from the environment images;an environment object library, connected with said image recognition unit to receive and store said image of the environment object;an image recognition library, connected with said image recognition unit to receive and store said location, color, speed and direction of the environment object;a vehicle driving library, having dynamic and static information for the vehicle, said dynamic information comprising dynamic speed and direction of the vehicle, said static information predetermined for the vehicle comprising braking distance, turning radius, accelerating level and safe distance, and length, width and height of the vehicle;an environment monitor and control unit, connected with said environment object library, said image recognition library and said vehicle driving library to receive the image, location, color, speed and direction of the environment object, create rebuild environment information for the vicinity of the vehicle, and generate warning information by judging a space relationship between the vehicle and the environment object based on the rebuild environment information;a video radar display unit, receiving the rebuild environment information and showing a single image corresponding to the rebuild environment information; anda vehicle warning unit, receiving the warning information generated by the environment monitor and control unit, and performing processes corresponding to the warning information, including sound, light or vibration, so as to warn and remind the driver.
- The system as claimed in claim 1, further comprising:a vehicle driving unit, receiving the rebuild environment information and generating a driving control command based on the rebuild environment information; anda vehicle controlling unit, receiving the driving control command through a transfer medium and generating a control command to control at least one of a throttle, brake or steering wheel of the vehicle.
- The system as claimed in claim 1, wherein said vehicle comprises at least one of a car, ship and airplane.
- The system as claimed in claim 1, wherein said camera is directed toward at least one of front, back, left and right of the vehicle.
- The system as claimed in claim 1, wherein said space relationship comprises static and dynamic space relationships, said static space relationship comprises relative distance and direction, and said dynamic space relationship comprises relative speed between the vehicle and the environment object.
- The system as claimed in claim 1, wherein said single image is shown by one of a bird's eye view and a radar figure.
- The system as claimed in claim 1, wherein said warning information is generated by the environment monitor and control unit when a relative distance between the vehicle and the environment object is less than a predetermined safe distance.
- The system as claimed in claim 7, wherein said predetermined safe distance increases by at least 6 meters as relative speed between the vehicle and the environment object increases by 10 km/hr.
- The system as claimed in claim 1, wherein said transfer medium comprises one of wire and wireless medium, said wire medium comprising one of LIN (Local Interconnect Network), CAN (Controller Area Network) and TCP/IP (Transmission Control Protocol/Internet Protocol), said wireless medium comprising one of infrared medium using IrDA (Infrared Data Association) protocol, radio frequency medium using Bluetooth protocol and WIFI/WIMAX/3G/LTE used in communication for a computer and a mobile phone.
- The system as claimed in claim 1, wherein said video radar display unit further receives the warning information from the environment monitor and control unit, and said single image shows at least an icon corresponding to the warning information.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW099135769A TW201217200A (en) | 2010-10-20 | 2010-10-20 | capable of controlling throttle, braking or steering according to the re-constructed environment information so as to improve driving safety |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2444947A1 true EP2444947A1 (en) | 2012-04-25 |
Family
ID=43929010
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP11156128A Withdrawn EP2444947A1 (en) | 2010-10-20 | 2011-02-28 | Assistant driving system with video radar |
Country Status (2)
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EP (1) | EP2444947A1 (en) |
TW (1) | TW201217200A (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107306330A (en) * | 2016-04-21 | 2017-10-31 | 斑马网络技术有限公司 | Applied to the image pickup method of the vehicles, control device, equipment and system |
CN109188396A (en) * | 2018-07-20 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | A kind of fixation device of laser radar sensory perceptual system |
CN109466547A (en) * | 2019-01-02 | 2019-03-15 | 华域汽车系统股份有限公司 | A kind of intelligent driving system and method based entirely on radar function containing automatic parking |
WO2021195955A1 (en) * | 2020-03-31 | 2021-10-07 | 华为技术有限公司 | Method and device for measuring complexity of vehicle traveling scene |
CN115331483A (en) * | 2021-05-11 | 2022-11-11 | 宗盈国际科技股份有限公司 | Intelligent locomotive warning device and system |
Families Citing this family (4)
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CN103770761A (en) * | 2012-10-24 | 2014-05-07 | 鸿富锦精密工业(深圳)有限公司 | Automatic brake system |
CN104773177A (en) * | 2014-01-09 | 2015-07-15 | 株式会社理光 | Aided driving method and aided driving device |
TWI549069B (en) * | 2014-12-15 | 2016-09-11 | Sheng Hui Meng | Method and device for passenger barge |
TWI776572B (en) * | 2021-06-29 | 2022-09-01 | 大陸商鴻富錦精密工業(深圳)有限公司 | Warning method, system, and transportation thereof |
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2010
- 2010-10-20 TW TW099135769A patent/TW201217200A/en not_active IP Right Cessation
-
2011
- 2011-02-28 EP EP11156128A patent/EP2444947A1/en not_active Withdrawn
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107306330A (en) * | 2016-04-21 | 2017-10-31 | 斑马网络技术有限公司 | Applied to the image pickup method of the vehicles, control device, equipment and system |
CN109188396A (en) * | 2018-07-20 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | A kind of fixation device of laser radar sensory perceptual system |
CN109466547A (en) * | 2019-01-02 | 2019-03-15 | 华域汽车系统股份有限公司 | A kind of intelligent driving system and method based entirely on radar function containing automatic parking |
WO2021195955A1 (en) * | 2020-03-31 | 2021-10-07 | 华为技术有限公司 | Method and device for measuring complexity of vehicle traveling scene |
CN115331483A (en) * | 2021-05-11 | 2022-11-11 | 宗盈国际科技股份有限公司 | Intelligent locomotive warning device and system |
Also Published As
Publication number | Publication date |
---|---|
TW201217200A (en) | 2012-05-01 |
TWI396642B (en) | 2013-05-21 |
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